



"""simple docstring"""






import numpy as np



class     UpperCAmelCase    :



   def __init__(       self    :	Any				):



     """simple docstring"""
     _snake_case   	=      (0, 0)
     _snake_case   	=      None
     _snake_case   	=      0
     _snake_case   	=      0
     _snake_case   	=      0



   def __eq__(       self    :	int							,       __lowerCamelCase    :	Dict				):



     """simple docstring"""
     return self.position == cell.position





   def    __UpperCAmelCase    (       self    :	str				):



     """simple docstring"""
     print(self.position				)



class     UpperCAmelCase    :



   def __init__(       self    :	Dict							,       __lowerCamelCase    :	Optional[int]=(5, 5)				):



     """simple docstring"""
     _snake_case   	=      np.zeros(__lowerCamelCase				)
     _snake_case   	=      world_size[0]
     _snake_case   	=      world_size[1]



   def    __UpperCAmelCase    (       self    :	Union[str, Any]				):



     """simple docstring"""
     print(self.w				)





   def    __UpperCAmelCase    (       self    :	List[str]							,       __lowerCamelCase    :	Union[str, Any]				):



     """simple docstring"""
     _snake_case   	=      [
         (-1, -1),
         (-1, 0),
         (-1, 1),
         (0, -1),
         (0, 1),
         (1, -1),
         (1, 0),
         (1, 1),
     ]
     _snake_case   	=      cell.position[0]
     _snake_case   	=      cell.position[1]
     _snake_case   	=      []
     for n in neughbour_cord:
       _snake_case   	=      current_x + n[0]
       _snake_case   	=      current_y + n[1]
       if 0 <= x < self.world_x_limit and 0 <= y < self.world_y_limit:
         _snake_case   	=      Cell()
         _snake_case   	=      (x, y)
         _snake_case   	=      cell
         neighbours.append(__lowerCamelCase				)
     return neighbours




def 			snake_case		(		lowerCAmelCase_  ,						lowerCAmelCase_  ,						lowerCAmelCase_	)						->				Optional[int]:
  _snake_case   	=      []
  _snake_case   	=      []
  _open.append(lowerCAmelCase_	)

  while _open:
    _snake_case   	=      np.argmin([n.f for n in _open]	)
    _snake_case   	=      _open[min_f]
    _closed.append(_open.pop(lowerCAmelCase_	)	)
    if current == goal:
      break
    for n in world.get_neigbours(lowerCAmelCase_	):
      for c in _closed:
        if c == n:
          continue
      _snake_case   	=      current.g + 1
      _snake_case	,     _snake_case   	=      n.position
      _snake_case	,     _snake_case   	=      goal.position
      _snake_case   	=      (ya - ya) ** 2 + (xa - xa) ** 2
      _snake_case   	=      n.h + n.g

      for c in _open:
        if c == n and c.f < n.f:
          continue
      _open.append(lowerCAmelCase_	)
  _snake_case   	=      []
  while current.parent is not None:
    path.append(current.position	)
    _snake_case   	=      current.parent
  path.append(current.position	)
  return path[::-1]


if __name__ == "__main__":
     snake_case   					=				Gridworld()
     # Start position and goal
     snake_case   					=				Cell()
     snake_case   					=				(0, 0)
     snake_case   					=				Cell()
     snake_case   					=				(4, 4)
     print(F"path from {start.position} to {goal.position}")
     snake_case   					=				astar(world, start, goal)
     #   Just for visual reasons.
     for i in s:
          snake_case   					=				1
     print(world.w)






'''simple docstring'''




import numpy as np






def __lowerCAmelCase					(				UpperCamelCase__							,    UpperCamelCase__							,    UpperCamelCase__							,    UpperCamelCase__							,    UpperCamelCase__							)      ->       str:
    __lowerCamelCase            =    int(np.ceil((x_end - xa) / h							)							)
    __lowerCamelCase            =    np.zeros((n + 1,)							)
    __lowerCamelCase            =    ya
    __lowerCamelCase            =    xa

    for k in range(UpperCamelCase__							):
        __lowerCamelCase            =    f(UpperCamelCase__							,    y[k]							)
        __lowerCamelCase            =    f(x + 0.5 * h							,    y[k] + 0.5 * h * ka							)
        __lowerCamelCase            =    f(x + 0.5 * h							,    y[k] + 0.5 * h * ka							)
        __lowerCamelCase            =    f(x + h							,    y[k] + h * ka							)
        __lowerCamelCase            =    y[k] + (1 / 6) * h * (ka + 2 * ka + 2 * ka + ka)
        x += h

    return y


if __name__ == "__main__":
  import doctest

  doctest.testmod()
